An orbital dike inspection device

Abstract

The present invention discloses an orbital dam inspection device, which includes an inspection track, an inspection vehicle, a 3D camera, an infrared camera, a camera adjustment mechanism, and a plurality of bottom support mechanisms. The orbital dam inspection device uses the bottom support mechanism to support the inspection track, effectively increasing the detection range; the 3D camera and the infrared camera are used in cooperation to make the collected image information more three-dimensional and accurate; the controller controls the 3D camera and the infrared camera to collect dam information, obtains the current position coordinates of the inspection vehicle through the GPS module, and stores the current coordinate position information and the collected dam information in the memory correspondingly, which saves time and effort and improves the practicability; the battery replacement station replaces the storage battery of the inspection vehicle mechanizedly, without waiting for charging, effectively improving the inspection efficiency.

Description

Technical Field

[0001] The present invention relates to an inspection device, in particular to an orbital dam inspection device. Background Art

[0002] Hydraulic engineering mainly studies basic knowledge and skills in aspects such as engineering hydrology, hydraulic engineering surveying, hydraulic reinforced concrete, hydraulic structures, engineering drawing, etc., and conducts engineering planning and design, on-site construction, engineering budgeting, and maintenance of hydraulic equipment in the field of hydraulic engineering. For example: building different types of hydraulic structures such as dams, levees, spillways, sluice gates, channels, aqueducts, raft channels, fishways, etc.

[0003] In the construction and inspection of hydraulic engineering, inspection devices are needed to inspect dams. However, the existing dam inspection devices have poor battery life and generally long charging times, and it is necessary to wait for a long time to continue the inspection, resulting in low dam inspection efficiency and reducing the practicality of the inspection devices; therefore, an orbital dam inspection device is proposed. Summary of the Invention

[0004] Object of the Invention: To provide an orbital dam inspection device that can mechanically replace the battery without waiting for charging, thereby improving the inspection efficiency.

[0005] Technical Solution: The orbital dam inspection device provided by the present invention includes an inspection track, an inspection vehicle, a 3D camera, an infrared camera, a camera adjustment mechanism, a battery replacement station, and a plurality of bottom support mechanisms;

[0006] Each bottom support mechanism is used to support the inspection track at intervals, and the height of the bottom support mechanism is adjustable; the inspection vehicle moves along the inspection track; both the 3D camera and the infrared camera are installed on the inspection vehicle through the camera adjustment mechanism, and the angles and orientations of the 3D camera and the infrared camera are adjusted by the camera adjustment mechanism; a main controller is installed in the inspection vehicle; a 4G communication module, a GPS module, and a memory electrically connected to the main controller are installed on the inspection vehicle; both the 3D camera and the infrared camera are electrically connected to the main controller; both the camera adjustment mechanism and the inspection vehicle are driven and controlled by the main controller; a storage battery that supplies power to the 4G communication module, the GPS module, the memory, the 3D camera, the infrared camera, the camera adjustment mechanism, and the inspection vehicle through a power module is installed on the inspection vehicle; the battery replacement station is installed on the inspection track and is used to replace the storage battery of the inspection vehicle.

[0007] Further, the bottom support mechanism includes a bottom adjustment screw rod, a bottom support tube, and a bottom sleeve;

[0008] The lower end of the bottom casing is vertically and slidably installed on the bottom support pipe; a bottom adjusting nut that is threadedly engaged with the bottom adjusting screw rod is rotatably installed at the upper pipe orifice of the bottom casing; the upper end of the bottom adjusting screw rod is fixed on the inspection track.

[0009] Furthermore, the inspection vehicle includes a control box, a moving cover, a moving drive mechanism, and a battery installation mechanism;

[0010] The control box is fixed inside the moving cover; the battery installation mechanism is installed on the moving cover, and the storage battery is located inside the battery installation mechanism; the moving cover travels on the inspection track through rollers; the moving drive mechanism is used to drive the moving cover to move along the inspection track, and the moving drive mechanism is controlled by the main controller, and the storage battery supplies power to the moving drive mechanism through the power module.

[0011] Furthermore, the battery installation mechanism includes a battery installation box and a linkage locking mechanism; the linkage locking mechanism includes two locking units;

[0012] The battery installation box is installed on the moving cover; a replacement channel is horizontally provided through the battery installation box; the two locking units are respectively installed at both ends inside the replacement channel for locking the storage battery in the middle of the replacement channel.

[0013] Furthermore, two electrode posts are installed on the upper side wall of the replacement channel; both of the two electrode posts are electrically connected to the power module;

[0014] Two connection slots are provided on the upper side wall of the storage battery; electrode plates that are electrically connected to the electrodes of the storage battery are elastically installed on both of the two connection slots; the electrode plates on the two connection slots are respectively used to sandwich the two electrode posts.

[0015] Furthermore, the camera adjustment mechanism includes an adjustment box, an adjustment column, an adjustment rod, a pitch adjustment mechanism, and an orientation adjustment mechanism;

[0016] The orientation adjustment mechanism is installed on the inspection vehicle and is used to drive the adjustment column to rotate; the adjustment box is fixed on the adjustment column; the adjustment rod is rotatably installed through the adjustment box, and the 3D camera and the infrared camera are respectively installed at both ends of the adjustment rod; the pitch adjustment mechanism is installed on the adjustment box and is used to drive the adjustment rod to rotate; both the pitch adjustment mechanism and the orientation adjustment mechanism are driven and controlled by the main controller, and the storage battery supplies power to the pitch adjustment mechanism and the orientation adjustment mechanism through the power module.

[0017] Furthermore, the battery replacement station includes a connection housing, a bottom pushing mechanism, two lifting and transporting mechanisms, and two linkage pushing and pulling mechanisms;

[0018] The connecting housing is horizontally fixed on the lower side of the inspection track; two lifting and transporting mechanisms are installed at both ends of the connecting housing for vertically transporting the storage battery; two linkage pushing and pulling mechanisms are respectively installed at the upper ends of the two lifting and transporting mechanisms; a pushing plate is installed at the output end of one linkage pushing and pulling mechanism for pushing the storage battery into the inspection vehicle; a linkage head is arranged at the output end of the other linkage pushing and pulling mechanism for pulling the storage battery out of the inspection vehicle; the bottom horizontal pushing mechanism is installed on the lifting and transporting mechanism and is on the same side as the linkage head, and the bottom horizontal pushing mechanism is used for pushing the storage battery on the lifting and transporting mechanism into the connecting housing.

[0019] A slave controller and a slave Bluetooth module electrically connected to the slave controller are arranged in the connecting housing; a master Bluetooth module electrically connected to the master controller is arranged on the inspection vehicle, and the master Bluetooth module is used for wireless connection with the slave Bluetooth module; the bottom horizontal pushing mechanism, the two lifting and transporting mechanisms and the two linkage pushing and pulling mechanisms are all driven by the slave controller; a position sensor electrically connected to the master controller is arranged on the inspection vehicle; the storage battery supplies power to the master Bluetooth module and the position sensor through the power module, and the storage battery is electrically connected to the master controller through the voltage acquisition circuit.

[0020] Furthermore, the two linkage pushing and pulling mechanisms both include a top housing, a first-level pushing and pulling unit and a second-level pushing and pulling unit;

[0021] The first-level pushing and pulling unit is installed in the top housing, and the second-level pushing and pulling unit is installed on the first-level pushing and pulling unit; the first-level pushing and pulling units of the two linkage pushing and pulling mechanisms are used for driving the two second-level pushing and pulling units to move relatively; the first-level pushing and pulling unit and the second-level pushing and pulling unit are both driven and controlled by the slave controller; the linkage head and the pushing plate are respectively installed at the opposite ends of the two second-level pushing and pulling units; a T-shaped notch extending to the upper side is vertically arranged on the storage battery, and the linkage head is used for extending into and buckling on the T-shaped notch.

[0022] Furthermore, the lifting and transporting mechanism includes a transmission housing, a transmission platform and a lifting and transporting unit;

[0023] The lower part of the transmission housing is fixedly connected and fixed to the end of the connecting housing; the top housing is fixedly connected and fixed to the upper end of the transmission housing; the lifting and transporting unit is installed on the transmission housing for driving the transmission platform to move vertically in the transmission housing; the lifting and transporting unit is driven and controlled by the slave controller.

[0024] Furthermore, the bottom horizontal pushing mechanism includes a horizontal pushing driving unit, a pushing rod and a horizontal pushing housing;

[0025] The horizontal pushing housing is horizontally fixed on the lifting and transporting mechanism; the horizontal pushing driving unit is installed on the horizontal pushing housing for driving the end of the pushing rod to penetrate through the lifting and transporting mechanism and extend into the connecting housing; the horizontal pushing driving unit is driven and controlled by the slave controller.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: A number of bottom support mechanisms are installed at intervals along the dam to support the inspection track. When an individual bottom support mechanism fails or the installation position collapses, the adjacent two bottom support mechanisms can still support the inspection track, and laying the inspection track along the dam effectively increases the detection range; The 3D camera and the infrared camera are used in cooperation to collect image information of the dam during the operation of the inspection vehicle, making the image more three-dimensional and accurate; Detection coordinates are preset at intervals along the inspection track. During the movement of the inspection vehicle, the main controller obtains the current position coordinates of the inspection vehicle in real time through the GPS module and compares them with the preset detection coordinates. When the inspection vehicle reaches each position coordinate, the controller controls the 3D camera and the infrared camera to collect dam information, and stores the current coordinate position information and the dam information collected at the current coordinate position in the memory correspondingly. The main controller sends the information in the memory to the remote control center through the 4G communication module to realize the inspection of the dam, without the user having to adjust the position, saving time and effort, improving the practicability. At the same time, the battery replacement station replaces the mechanical storage battery of the inspection vehicle, eliminating the need to wait for the inspection vehicle to charge for a long time, effectively improving the inspection efficiency of the inspection vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the present invention;

[0028] Figure 2 is a sectional view of the battery replacement station of the present invention;

[0029] Figure 3 is a sectional view of the inspection track of the present invention;

[0030] Figure 4 is a partial sectional view of the inspection vehicle of the present invention;

[0031] Figure 5 is a sectional view of the battery installation mechanism of the present invention;

[0032] Figure 6 is a sectional view of the linkage push-pull mechanism of the present invention;

[0033] Figure 7 is a schematic diagram of the positional relationship between the battery replacement station and the battery installation mechanism of the present invention;

[0034] Figure 8 is a sectional view of the bottom push mechanism of the present invention;

[0035] Figure 9 is a partial sectional view of the storage battery of the present invention;

[0036] Figure 10 is a schematic diagram of the circuit structure of the present invention;

[0037] In the figure: 1. Inspection track; 101. Roller groove; 2. Bottom support mechanism; 201. Installation base plate; 202. Bottom support pipe; 203. Bottom sleeve; 204. Bottom adjusting nut; 205. Bottom adjusting screw rod; 206. Sliding hole; 207. Bottom slider; 3. Battery replacement station; 301. Top shell; 304. Installation groove; 307. Transmission guiding hole; 308. Transmission shell; 309. Connection housing; 310. First-level push-pull motor; 311. First-level push-pull screw rod; 312. Push-pull driving block; 321. Second-level push-pull motor; 324. Second-level push-pull screw rod; 325. Second-level guiding groove; 326. Second-level internal thread pipe; 327. Push-pull driving seat; 328. Avoidance hole; 331. Push plate; 332. Buckle plate; 333. Swing block; 341. Lifting driving motor; 342. Connecting rod; 343. Transmission platform; 344. Lifting driving screw rod; 351. Flat-push driving motor; 352. Flat-push housing; 353. Flat-push driving screw rod; 354. Pushing rod; 361. Charging module; 362. Charging column; 4. Inspection vehicle; 401. Moving cover; 402. Control box; 403. Roller; 41. Battery installation mechanism; 410. Battery installation box; 411. Wiring cavity; 412. Replacement channel; 413. Avoidance groove; 414. Drainage hole; 415. Locking blind hole; 4161. Linkage plate; 4162. Driving rod; 4163. Return spring; 417. Locking column; 4171. Locking guiding groove; 4172. Locking spring; 4173. Locking guiding block; 421. Moving driving rack; 422. Moving driving gear; 425. Moving driving motor; 431. Electrode column; 5. Camera adjusting mechanism; 501. Adjusting column; 502. Adjusting box; 503. Pitch adjusting motor; 504. Pitch driving worm; 505. Adjusting rod; 506. Pitch driving worm gear; 507. Support column; 508. Lamp shade; 511. Rotation driving motor; 512. Rotation driving gear; 513. Rotation driven gear; 6. Supplementary light; 7. 3D camera; 8. Storage battery; 801. Electrode plate; 802. Long strip groove; 803. T-shaped notch; 804. Telescopic pipe; 805. Opposing clip spring; 806. Connection notch; 9. Infrared camera. Detailed implementation manners

[0038] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the described embodiments.

[0039] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left", "right", "front", "rear", "upper", "lower", "top", "bottom", etc. are all based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention in a simplified manner, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention.

[0041] Embodiment 1:

[0042] As Figures 1-10 shown, a track - type dam inspection device provided by the present invention includes: an inspection track 1, an inspection vehicle 4, a 3D camera 7, an infrared camera 9, a camera adjustment mechanism 5, a battery replacement station 3, and a number of bottom support mechanisms 2;

[0043] Each of the bottom support mechanisms 2 is supported on the lower side of the inspection track 1 in a height - adjustable manner and is used for being installed on the dam at intervals;

[0044] The inspection vehicle 4 moves along the inspection track 1;

[0045] The camera adjustment mechanism 5 is installed on the inspection vehicle 4, and both the 3D camera 7 and the infrared camera 9 are installed on the camera adjustment mechanism 5, and the angles and orientations of the 3D camera 7 and the infrared camera 9 are adjusted by the camera adjustment mechanism 5;

[0046] A main controller, a 4G communication module, a GPS module, and a memory are installed on the inspection vehicle 4; the 4G communication module, the GPS module, the memory, the 3D camera 7, and the infrared camera 9 are all electrically connected to the main controller; both the camera adjustment mechanism 5 and the inspection vehicle 4 are driven and controlled by the main controller; a storage battery 8 that powers the 4G communication module, the GPS module, the memory, the 3D camera 7, the infrared camera 9, the camera adjustment mechanism 5, and the inspection vehicle 4 through a power module is installed on the inspection vehicle 4; the battery replacement station 3 is installed on the inspection track 1 and is used for replacing the storage battery 8 of the inspection vehicle 4.

[0047] A number of bottom support mechanisms 2 are installed at intervals along the dam to support the inspection track 1. When an individual bottom support mechanism 2 fails or the installation position collapses, the adjacent two bottom support mechanisms 2 can still support the inspection track 1, and laying the inspection track 1 along the dam effectively increases the detection range of the inspection vehicle 4; the 3D camera 7 and the infrared camera 9 are used in cooperation to collect image information of the dam during the movement of the inspection vehicle 4, making the image more three-dimensional and accurate; the detection coordinates are set in advance along the inspection track 1. During the movement of the inspection vehicle 4, the main controller obtains the current position coordinates of the inspection vehicle 4 in real time through the GPS module and compares them with the preset detection coordinates. When the inspection vehicle 4 reaches each position coordinate, the controller controls the 3D camera 7 and the infrared camera 9 to collect dam information, and stores the current coordinate position information and the dam information collected at the current coordinate position in the memory correspondingly. The main controller sends the information in the memory to the remote control center through the 4G communication module to realize the inspection of the dam, without the user having to adjust the position, saving time and effort, improving the practicability. At the same time, the battery replacement station 3 replaces the battery 8 of the inspection vehicle 4 mechanically, without waiting for the inspection vehicle to charge for a long time, effectively improving the inspection efficiency of the inspection vehicle 4.

[0048] Further, the bottom support mechanism 2 includes a bottom adjusting screw rod 205, a bottom support pipe 202 and a bottom sleeve 203;

[0049] An installation base plate 201 for installing on the dam is fixed at the lower end of the bottom support pipe 202; a sliding hole 206 is vertically arranged on the bottom support pipe 202; the lower end of the bottom sleeve 203 is slidably inserted on the bottom support pipe 202, and a bottom slider 207 slidably matched with the sliding hole 206 is arranged at the lower end of the bottom sleeve 203; a bottom adjusting nut 204 threadedly engaged with the bottom adjusting screw rod 205 is rotatably installed at the upper pipe orifice of the bottom sleeve 203; the lower end of the bottom adjusting screw rod 205 extends into the bottom sleeve 203, and the upper end is fixed on the lower side surface of the inspection track 1.

[0050] By utilizing the cooperation among the bottom adjusting nut 204, the bottom sleeve 203 and the bottom adjusting screw rod 205, the length of the bottom adjusting screw rod 205 extending out of the bottom sleeve 203 can be adjusted by screwing the bottom adjusting nut 204, so as to realize the height adjustment of the bottom support mechanism 2; during the initial installation, by adjusting the heights of the respective bottom support mechanisms 2, the inspection track 1 is made parallel to the dam surface, which is convenient for the inspection personnel to compare the data after each subsequent inspection; by utilizing the cooperation between the bottom support pipe 202 and the bottom sleeve 203, when the dam at the position where the installation base plate 201 is located collapses, a part of the bottom sleeve 203 slides out of the bottom support pipe 202, so that the bottom support pipe 202 will not cause a downward pull on the inspection track 1.

[0051] Further, the inspection vehicle 4 includes a control box 402, a moving cover 401, a moving drive mechanism, and a battery mounting mechanism 41;

[0052] The moving drive mechanism includes a moving drive motor 425 and a moving drive gear 422;

[0053] The moving cover 401 is U-shaped;

[0054] The control box 402 is fixed inside the moving cover 401; the main controller, 4G communication module, GPS module, memory, and power supply module are all located inside the control box 402;

[0055] The battery mounting mechanism 41 is mounted on the moving cover 401, the storage battery 8 is located inside the battery mounting mechanism 41, and the battery mounting mechanism 41 is used for electrically connecting the storage battery 8 and the power supply module;

[0056] Roller grooves 101 are provided along the length direction on two vertical sides of the inspection track 1; at least four rollers 403 are rotatably mounted on two opposite inner side walls of the moving cover 401, and each roller 403 travels on the roller groove 101 on the corresponding side;

[0057] A moving drive rack 421 is provided along the length direction of the inspection track 1; the moving drive gear 422 is rotatably mounted on the control box 402 and meshes with the moving drive rack 421; the moving drive motor 425 drives the moving drive gear 422 to rotate through a gear pair and is electrically connected to the main controller through a moving drive circuit, and the storage battery 8 supplies power to the moving drive motor 425 through the power supply module.

[0058] The moving drive motor 425 is used to drive the moving drive gear 422 to rotate under the control of the main controller, driving the control box 402 and the moving cover 401 to move along the moving drive rack 421, so that the inspection vehicle 4 can move along the inspection track 1; the cooperation between the rollers 403 and the roller grooves 101 plays a role in moving support for the moving cover 401, and reduces the friction between the moving cover 401 and the inspection track 1, improving the smoothness of the movement of the inspection vehicle 4 on the inspection track 1.

[0059] Further, the battery mounting mechanism 41 includes a battery mounting box 410 and a linkage lock mechanism;

[0060] The linkage lock mechanism includes two lock units; the lock unit includes a linkage plate 4161, a locking column 417, a return spring 4163, and a locking spring 4172;

[0061] The battery mounting box 410 is mounted on the moving cover 401;

[0062] A replacement channel 412 is horizontally arranged through the battery installation box 410;

[0063] Two locking blind holes 415 are arranged on the lower side wall of the replacement channel 412; the locking columns 417 are vertically inserted into the locking blind holes 415 in a sliding manner;

[0064] A locking guide groove 4171 is vertically arranged in the locking blind hole 415, and a locking guide block 4173 that is slidably matched with the locking guide groove 4171 is arranged on the locking column 417;

[0065] A locking spring 4172 is elastically supported between the bottom of the locking blind hole 415 and the locking column 417;

[0066] The storage battery 8 is located between the two locking columns 417;

[0067] An avoidance groove 413 is arranged at each end of the lower side wall of the replacement channel 412; the lower edges of the two linkage plates 4161 are respectively rotatably installed in the avoidance grooves 413, and the upper edges are respectively used to press the upper ends of the two locking columns 417;

[0068] When the linkage plate 4161 is in a horizontal state, the locking column 417 retracts into the locking blind hole 415;

[0069] A driving rod 4162 is arranged on the lower edge of the linkage plate 4161; a return spring 4163 is elastically connected between the driving rod 4162 and the groove wall of the avoidance groove 413, and is used to drive the linkage plate 4161 to stand upright;

[0070] A drain hole 414 communicating with the avoidance groove 413 is arranged on the battery installation box 410.

[0071] The upper ends of the two locking columns 417 respectively extend out of the locking blind hole 415 under the drive of the two locking springs 4172, so that the position of the storage battery 8 in the replacement channel 412 is restricted, thereby realizing the locking of the storage battery 8; pushing the linkage plate 4161 and making the linkage plate 4161 press the corresponding locking column 417 back into the locking blind hole 415 can unlock the storage battery 8. After the replacement of the storage battery 8 is completed, the return spring 4163 pulls the driving rod 4162 to make the linkage plate 4161 return to the vertical state, and the locking column 417 restricts the storage battery 8 again; the liquid entering the avoidance groove 413 is discharged by using the drain hole 414.

[0072] Further, two wiring cavities 411 are arranged in the battery installation box 410 on the upper side of the replacement channel 412;

[0073] Electrode columns 431 with lower ends extending into the replacement channel 412 are installed through the lower side walls of each wiring cavity 411; the two electrode columns 431 are respectively electrically connected to the positive and negative power supply terminals of the power supply module;

[0074] Two connection notches 806 are provided on the upper side wall of the storage battery 8;

[0075] On the two vertical side walls of the connection notch 806, a long slot 802 is provided; on the bottom of the long slot 802, a plurality of telescopic tubes 804 are arranged at intervals; on the telescopic tube 804, a telescopic rod is telescopically installed;

[0076] On the ends of the telescopic rods on the same side, electrode plates 801 are commonly fixed;

[0077] On each telescopic tube 804, a clamping spring 805 elastically supported between the bottom of the long slot 802 and the electrode plate 801 is sleeved;

[0078] The two electrode plates 801 in one connection notch 806 are electrically connected to the positive electrode of the storage battery 8, and the two electrode plates 801 in the other connection notch 806 are electrically connected to the negative electrode of the storage battery 8;

[0079] The two electrode plates 801 electrically connected to the positive electrode of the storage battery 8 are used to clamp the electrode post 431 electrically connected to the positive power supply terminal of the power supply module; the two electrode plates 801 electrically connected to the negative electrode of the storage battery 8 are used to clamp the electrode post 431 electrically connected to the negative power supply terminal of the power supply module.

[0080] The clamping spring 805 is used to drive the electrode plate 801 to clamp the electrode post 431, ensuring that the storage battery 8 can still supply power stably when the inspection vehicle 4 shakes.

[0081] Further, the camera adjustment mechanism 5 includes an adjustment box 502, an adjustment column 501, an adjustment rod 505, a pitch adjustment mechanism, and an orientation adjustment mechanism;

[0082] The pitch adjustment mechanism includes a pitch adjustment motor 503, a pitch drive worm gear 506, and a pitch drive worm 504;

[0083] The orientation adjustment mechanism includes a rotation drive motor 511, a rotation drive gear 512, and a rotation driven gear 513;

[0084] The adjustment column 501 is rotatably installed on the top of the moving cover 401, and the lower end penetrates through the upper side wall of the moving cover 401 and the control box 402 and extends into the control box 402;

[0085] The rotating driven gear 513 is installed on the extending end of the adjusting column 501; the rotating driving gear 512 is rotatably installed in the control box 402 and meshes with the rotating driven gear 513; the rotating driving motor 511 is used to drive the rotation of the rotating driving gear 512 and is electrically connected to the main controller through the rotating driving circuit, and the storage battery 8 supplies power to the rotating driving motor 511 through the power module;

[0086] The adjusting box 502 is fixed on the upper end of the adjusting column 501;

[0087] The adjusting rod 505 is horizontally and rotatably installed on the adjusting box 502;

[0088] The 3D camera 7 and the infrared camera 9 are respectively installed at both ends of the adjusting rod 505;

[0089] The pitching driving worm gear 506 is installed on the adjusting rod 505; the pitching driving worm 504 is rotatably installed in the adjusting box 502 and meshes with the pitching driving worm gear 506; the pitching adjusting motor 503 is used to drive the rotation of the pitching driving worm 504 and is electrically connected to the main controller through the pitching adjusting circuit, and the storage battery 8 supplies power to the pitching adjusting motor 503 through the power module;

[0090] A lamp shade 508 is installed on the top of the adjusting box 502 through a support column 507; a supplementary light 6 is installed in the lamp shade 508; an electric control switch electrically connected to the main controller is connected in series on the power supply cable of the supplementary light 6.

[0091] The rotating driving motor 511 is used to drive the rotation of the rotating driving gear 512 under the control of the main controller, so that the rotating driven gear 513 drives the adjusting column 501 to rotate, thereby realizing the adjustment of the orientations of the 3D camera 7 and the infrared camera 9; the pitching adjusting motor 503 is used to drive the rotation of the pitching driving worm 504 under the control of the main controller, and the pitching driving worm gear 506 drives the adjusting rod 505 to rotate, thereby realizing the adjustment of the pitching angles of the 3D camera 7 and the infrared camera 9.

[0092] Further, the battery replacement station 3 includes a connecting housing 309, a bottom pushing mechanism, two lifting and transporting mechanisms and two linkage pushing and pulling mechanisms;

[0093] The two linkage pushing and pulling mechanisms are respectively installed on the upper ends of the two lifting and transporting mechanisms; a push plate 331 is installed on the output end of one linkage pushing and pulling mechanism for pushing the storage battery 8 into the inspection vehicle 4; a linkage head is arranged on the output end of the other linkage pushing and pulling mechanism for pulling the storage battery 8 out of the inspection vehicle 4;

[0094] The connecting housing 309 is horizontally fixed on the lower side of the inspection track 1; two lifting and transporting mechanisms are installed at both ends of the connecting housing 309 for vertically transporting the storage battery 8; the bottom pushing mechanism is installed on the lifting and transporting mechanism and is on the same side as the linkage head, and the bottom pushing mechanism is used to push the storage battery 8 on the lifting and transporting mechanism into the connecting housing 309; on the upper inner wall of the connecting housing 309, a charging module 361 electrically connected to the power supply is installed; on the lower side of the charging module 361, two rows of charging posts 362 are conductively installed, and the two rows of charging posts 362 are respectively used to extend into the two connection slots 806 of the storage battery 8;

[0095] A slave controller and a slave Bluetooth module electrically connected to the slave controller are arranged in the connecting housing 309; a master Bluetooth module electrically connected to the master controller is arranged on the inspection vehicle 4, and the master Bluetooth module is used for wireless connection with the slave Bluetooth module; the bottom pushing mechanism, the two lifting and transporting mechanisms, and the two linkage pushing and pulling mechanisms are all driven by the slave controller; a position sensor electrically connected to the master controller is arranged on the inspection vehicle 4; the storage battery 8 supplies power to the master Bluetooth module and the position sensor through the power module;

[0096] A voltage acquisition circuit electrically connected to the master controller is arranged in the control box 402, and both electrode columns 431 are electrically connected to the voltage acquisition circuit.

[0097] The battery replacement station 3 is fixedly installed on the inspection track 1. When the inspection vehicle 4 reaches the battery replacement station, the position sensor sends a signal to the master controller. The master controller controls the inspection vehicle 4 to stop moving, and detects the power of the storage battery 8 through the voltage acquisition circuit, and uploads the power of the storage battery 8 to the remote control center through the 4G communication module. The remote control center judges whether the storage battery 8 needs to be replaced and sends a signal to the master controller. When there is no need to replace, the master controller controls the inspection vehicle 4 to continue moving. When replacement is needed, the master controller conducts wireless communication with the slave Bluetooth module of the slave controller through the master Bluetooth module, so that the slave controller controls the bottom pushing mechanism, the two lifting and transporting mechanisms, and the two linkage pushing and pulling mechanisms to cooperate to take out the storage battery 8 in the inspection vehicle 4 and send it into the connecting housing 309. The electrode plate 801 clamps the charging post 362, and the charging module 361 charges the storage battery 8 through the charging post 362, and sends the fully charged storage battery 8 in the connecting housing 309 into the inspection vehicle 4 to complete the replacement of the storage battery 8, without waiting for the storage battery 8 to be charged, improving the detection efficiency.

[0098] Furthermore, the linkage pushing and pulling mechanism includes a top housing 301, a primary pushing and pulling unit, and a secondary pushing and pulling unit;

[0099] The primary pushing and pulling unit includes a primary pushing and pulling motor 310 and a primary pushing and pulling lead screw 311;

[0100] The secondary push-pull unit includes a push-pull drive seat 327, a secondary push-pull motor 321, a secondary push-pull lead screw 324, and a secondary internal thread tube 326;

[0101] The linkage head includes a snap plate 332 and four swing blocks 333;

[0102] The primary push-pull lead screw 311 is rotatably and horizontally installed in the top housing 301; the primary push-pull motor 310 is used to drive the rotation of the primary push-pull lead screw 311 and is electrically connected to the slave controller through the primary push-pull drive circuit;

[0103] An installation groove 304 is provided on each of the opposite side surfaces of the top housing 301 of the two linkage push-pull mechanisms; the push-pull drive seat 327 is horizontally slidably installed in the installation groove 304;

[0104] A push-pull drive block 312 that is threadedly engaged with the primary push-pull lead screw 311 in a through manner is provided on the push-pull drive seat 327;

[0105] The secondary internal thread tube 326 is rotatably and horizontally installed on the push-pull drive seat 327; the secondary push-pull lead screw 324 is threadedly engaged with the secondary internal thread tube 326 in a through manner, and the secondary push-pull lead screw 324 slidably penetrates through the push-pull drive seat 327; a secondary guide groove 325 is provided on the secondary push-pull lead screw 324 along the length direction; a secondary guide block that is slidably engaged with the secondary guide groove 325 is provided on the push-pull drive seat 327;

[0106] The secondary push-pull motor 321 is installed on the push-pull drive seat 327, drives the rotation of the secondary internal thread tube 326 through a gear-gear ring pair, and is electrically connected to the slave controller through the secondary push-pull drive circuit;

[0107] An avoidance hole 328 for the distal end of the secondary push-pull lead screw 324 to penetrate through is provided on the top housing 301;

[0108] The push plate 331 and the snap plate 332 are respectively installed on the opposite end portions of the secondary push-pull lead screws 324 of the two linkage push-pull mechanisms;

[0109] A T-shaped notch 803 extending to the upper side surface is provided on the vertical side wall on one side of the storage battery 8 for the snap plate 332 to extend into; the four swing blocks 333 are respectively swingably installed at the four top corners of the snap plate 332, and torsion springs are provided between the four swing blocks 333 and the snap plate 332, and each torsion spring is used to drive the corresponding swing block 333 to be snapped on the T-shaped notch 803.

[0110] The volume of the linkage push-pull mechanism is reduced by using a secondary feeding method that combines a primary push-pull unit and a secondary push-pull unit, avoiding interference with the operation of the inspection vehicle 4; the primary push-pull motor 310 drives the rotation of the primary push-pull lead screw 311 under the control of the slave controller, causing the push-pull drive block 312 to drive the push-pull drive seat 327 to move along the installation groove 304. The secondary push-pull motor 321 is driven by the main controller and drives the rotation of the secondary internal thread tube 326 through a gear and ring gear pair, causing the secondary push-pull lead screw 324 to move along the axis of the secondary internal thread tube 326, thereby driving the linkage head or the push plate 331 to move and unlocking the linkage lock mechanism; the secondary push-pull lead screw 324 passes through the avoidance hole 328, extending the movement range of the secondary push-pull lead screw 324.

[0111] Furthermore, the lifting and conveying mechanism includes a conveying housing 308, a conveying platform 343, and a lifting and conveying unit; the lifting and conveying unit includes a lifting drive motor 341 and a lifting drive lead screw 344;

[0112] The lower part of the conveying housing 308 is fixedly connected and fixed to the end of the connecting housing 309; the top housing 301 is fixedly connected and fixed to the upper end of the conveying housing 308;

[0113] The lifting drive lead screw 344 is rotatably and vertically installed on the conveying housing 308; the lifting drive motor 341 is used to drive the rotation of the lifting drive lead screw 344 and is electrically connected to the slave controller through a transmission drive circuit;

[0114] A conveying guide hole 307 is vertically provided on the conveying housing 308; a connecting rod 342 that extends through the conveying guide hole 307 is fixed on the conveying platform 343, and the extending end of the connecting rod 342 is threadedly screwed through the lifting drive lead screw 344.

[0115] The lifting drive motor 341 drives the rotation of the lifting drive lead screw 344 under the drive of the slave controller, causing the connecting rod 342 to drive the conveying platform 343 to lift and lower within the conveying housing 308, realizing the lifting and conveying of the battery 8. One side of the lifting and conveying mechanism transports the battery 8 pulled out by the linkage head downward to the bottom flat-pushing mechanism, and the linkage head disengages from the battery 8 through the upper side of the T-shaped notch 803 during the downward movement of the battery 8. The other side of the lifting and conveying mechanism transports the battery 8 pushed out by the bottom flat-pushing mechanism upward to the push plate 331.

[0116] Furthermore, the bottom flat-pushing mechanism includes a flat-pushing drive unit, a push rod 354, and a flat-pushing housing 352; the flat-pushing drive unit includes a flat-pushing drive motor 351 and a flat-pushing drive lead screw 353

[0117] The flat-pushing housing 352 is horizontally fixed on the conveying housing 308;

[0118] The flat - push drive lead screw 353 is horizontally installed in the flat - push housing 352 in a rotary manner; the flat - push drive motor 351 is used to drive the flat - push drive lead screw 353 and is electrically connected to the slave controller through the flat - push drive circuit;

[0119] The push rod 354 is a U - shaped rod; the connecting rod of the push rod 354 is horizontally slidably installed in the flat - push housing 352 and is threadedly engaged with the flat - push drive lead screw 353 in a penetrating manner; both ends of the two parallel rods of the push rod 354 penetrate through the flat - push housing 352 and the transmission housing 308 and then extend into the connection housing 309;

[0120] The transmission platform 343 and the connecting rod 342 are both used for vertical movement between the two parallel rods of the push rod 354.

[0121] Utilize the flat - push drive motor 351 to drive the flat - push drive lead screw 353 to rotate, drive the push rod 354 to move along the flat - push housing, make the end of the push rod 354 penetrate through the transmission housing 308, push the battery 8 on the transmission platform 343 into the connection housing 309, or push the battery 8 in the connection housing 309 to the transmission platform 343 on the other side.

[0122] In the track - type dam inspection device provided by the present invention, both the main controller and the slave controller adopt existing single - chip microcomputer control modules for realizing coordinated control; the memory adopts an existing memory; the 4G communication module adopts an existing 4G communication module; the GPS module adopts an existing GPS module; the position sensor adopts an existing ranging sensor; the 3D camera 7 adopts an existing 3D camera; the infrared camera 9 adopts an existing infrared camera; the first - level push - pull motor 310, the second - level push - pull motor 321, the lifting drive motor 341, the flat - push drive motor 351, the mobile drive motor 425, the pitch - adjustment motor 503, and the rotation drive motor 511 all adopt existing stepping motors; the first - level push - pull drive circuit, the second - level push - pull drive circuit, the lifting drive circuit, the flat - push drive circuit, the mobile drive circuit, the pitch - adjustment circuit, and the rotation drive circuit all adopt corresponding stepping - motor drive circuits; the voltage acquisition circuit adopts an existing voltage acquisition circuit module; the power supply module adopts an existing power supply module.

[0123] When the track - type dam inspection device provided by the present invention is installed and used,

[0124] First, install each bottom support mechanism 2 at intervals along the dam and adjust the length of each bottom support mechanism 2 to make the inspection track 1 parallel to the upper side of the dam; turn the bottom adjustment nut 204 to adjust the length of the bottom adjustment lead screw 205 extending out of the bottom sleeve 203 to complete the length adjustment of the bottom support mechanism 2;

[0125] Set the detection coordinates along the inspection track 1 in advance;

[0126] Next, the main controller controls the inspection vehicle 4 to move along the inspection track 1; the movement drive motor 425 drives the movement drive gear 422 to rotate under the control of the main controller, driving the control box 402 and the movement cover 401 to move along the movement drive rack 421;

[0127] During the movement of the inspection vehicle 4, the main controller obtains the current position coordinates of the inspection vehicle 4 in real time through the GPS module and compares them with the preset detection coordinates. When the inspection vehicle 4 reaches each position coordinate, the controller controls the 3D camera 7 and the infrared camera 9 to collect dam information, and stores the current coordinate position information and the dam information collected at the current coordinate position in the memory correspondingly. The main controller sends the information in the memory to the remote control center through the 4G communication module; the rotation drive motor 511 drives the rotation of the rotation drive gear 512 under the control of the main controller, so that the rotation driven gear 513 drives the adjustment column 501 to rotate. The pitch adjustment motor 503 drives the pitch drive worm 504 to rotate under the control of the main controller, and the pitch drive worm gear 506 drives the adjustment rod 505 to rotate, enabling the 3D camera 7 and the infrared camera 9 to perform all-round three-dimensional image collection on the dam at the detection coordinates;

[0128] The main controller detects the power of the battery 8 in real time through the voltage acquisition circuit. When the power of the battery 8 reaches or is lower than the threshold, when the inspection vehicle 4 reaches the battery replacement station 3, the position sensor sends a signal to the main controller, and the controller controls the inspection vehicle 4 to stop moving. The main controller performs wireless communication with the slave Bluetooth module of the slave controller through the main Bluetooth module, enabling the slave controller to control the bottom pushing mechanism, the two lifting and transporting mechanisms, and the two linkage pushing and pulling mechanisms to cooperate, take out the battery 8 in the inspection vehicle 4 and send it into the connection housing 309 for charging, and send the fully charged battery 8 in the connection housing 309 into the inspection vehicle 4;

[0129] A plurality of batteries 8 are provided in the connection housing 309; the charging module 361 charges each battery 8 through two rows of charging posts 362;

[0130] The primary push-pull motor 310 on one side drives the primary push-pull lead screw 311 to rotate under the control of the controller, causing the push-pull drive block 312 to drive the push-pull drive seat 327 to move along the installation groove 304. The secondary push-pull motor 321 is driven by the main controller to drive the secondary internal thread tube 326 to rotate through a gear and ring gear pair, causing the secondary push-pull lead screw 324 to move along the axis of the secondary internal thread tube 326, driving the buckle plate 332 to extend into the replacement channel 412, and pushing the linkage plate 4161 on one side into a horizontal state. The linkage plate 4161 presses the corresponding locking post 417 back into the lock blind hole 415. At the same time, the linkage head extends into the T-shaped notch 803 of the battery 8 and is buckled on the T-shaped notch 803. The main controller controls the linkage head to retract, pulling the battery 8 out onto the corresponding transfer platform 343. When the battery 8 leaves the replacement channel 412, the buckle plate 332 and the locking post 417 are reset under the drive of the return spring 4163 and the locking spring 4172 respectively. The lifting drive motor 341 on the corresponding side drives the lifting drive lead screw 344 to rotate under the drive of the slave controller, causing the connecting rod 342 to drive the transfer platform 343 to descend in the transfer housing 308 to the push rod 354. During the downward movement, the linkage head disengages from the battery 8 through the upper end of the T-shaped notch 803. The flat push drive motor 351 drives the flat push drive lead screw 353 to rotate, driving the push rod 354 to move along the flat push housing, causing the end of the push rod 354 to penetrate the transfer housing 308, and pushing the battery 8 on the transfer platform 343 into the connection housing 309 for charging. At this time, the fully charged battery 8 at the other end in the connection housing 309 is extruded onto the corresponding transfer platform 343. The transfer platform 343 moves upward to the push plate 331 under the control of the slave controller. The main controller controls the push plate 331 to extend, pushing the fully charged battery 8 into the replacement channel 412. The fully charged battery 8 presses down another linkage plate 4161 and is pushed between the two locking posts 417, and the electrode plates 801 on the two connection slots 806 are respectively used to clamp the two electrode posts 431. The main controller controls the push plate 331 to retract, and the linkage plate 4161 and the locking post 417 are reset; the replacement of the battery 8 is completed.

[0131] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation of the present invention itself. Various changes can be made in its form and details without departing from the spirit and scope of the present invention defined by the appended claims.

Claims

1. An orbital dam inspection device, characterized in that: It includes an inspection track (1), an inspection vehicle (4), a 3D camera (7), an infrared camera (9), a camera adjustment mechanism (5), a battery replacement station (3), and a number of bottom support mechanisms (2); Each bottom support mechanism (2) is used to support the inspection track (1) at intervals, and the height of the bottom support mechanism (2) is adjustable; the inspection vehicle (4) moves along the inspection track (1); both the 3D camera (7) and the infrared camera (9) are installed on the inspection vehicle (4) through the camera adjustment mechanism (5), and the angles and orientations of the 3D camera (7) and the infrared camera (9) are adjusted by the camera adjustment mechanism (5); a main controller is installed inside the inspection vehicle (4); a 4G communication module, a GPS module, and a memory electrically connected to the main controller are installed on the inspection vehicle (4); both the 3D camera (7) and the infrared camera (9) are electrically connected to the main controller; both the camera adjustment mechanism (5) and the inspection vehicle (4) are driven and controlled by the main controller; a storage battery (8) that supplies power to the 4G communication module, the GPS module, the memory, the 3D camera (7), the infrared camera (9), the camera adjustment mechanism (5), and the inspection vehicle (4) through a power module is installed on the inspection vehicle (4); the battery replacement station (3) is installed on the inspection track (1) and is used to replace the storage battery (8) of the inspection vehicle (4); The battery replacement station (3) includes a connection housing (309), a bottom horizontal pushing mechanism, two lifting and transporting mechanisms, and two linkage pushing and pulling mechanisms; The connection housing (309) is horizontally fixed on the lower side of the inspection track (1); the two lifting and transporting mechanisms are installed at both ends of the connection housing (309) and are used for vertically transporting the storage battery (8); the two linkage pushing and pulling mechanisms are respectively installed on the upper ends of the two lifting and transporting mechanisms; a push plate (331) is installed at the output end of one linkage pushing and pulling mechanism and is used to push the storage battery (8) into the inspection vehicle (4); a linkage head is provided at the output end of the other linkage pushing and pulling mechanism and is used to pull the storage battery (8) out of the inspection vehicle (4); the bottom horizontal pushing mechanism is installed on the lifting and transporting mechanism and is on the same side as the linkage head, and the bottom horizontal pushing mechanism is used to push the storage battery (8) on the lifting and transporting mechanism into the connection housing (309); A slave controller and a slave Bluetooth module electrically connected to the slave controller are provided inside the connection housing (309); a master Bluetooth module electrically connected to the main controller is provided on the inspection vehicle (4), and the master Bluetooth module is used for wireless connection with the slave Bluetooth module; the bottom horizontal pushing mechanism, the two lifting and transporting mechanisms, and the two linkage pushing and pulling mechanisms are all driven by the slave controller; a position sensor electrically connected to the main controller is provided on the inspection vehicle (4); the storage battery (8) supplies power to the master Bluetooth module and the position sensor through the power module, and the storage battery (8) is electrically connected to the main controller through a voltage acquisition circuit.

2. The orbital dike inspection device according to claim 1, wherein: The bottom support mechanism (2) includes a bottom adjustment screw rod (205), a bottom support pipe (202), and a bottom sleeve (203); The lower end of the bottom casing (203) is vertically and slidably mounted on the bottom support pipe (202); a bottom adjusting nut (204) that is threadedly engaged with the bottom adjusting screw rod (205) is rotatably mounted at the upper pipe orifice of the bottom casing (203); the upper end of the bottom adjusting screw rod (205) is fixed to the inspection track (1).

3. The orbital dike inspection device according to claim 1, characterized in that: The inspection vehicle (4) includes a control box (402), a moving cover (401), a moving drive mechanism, and a battery mounting mechanism (41); The control box (402) is fixed inside the moving cover (401); the battery mounting mechanism (41) is mounted on the moving cover (401), and the storage battery (8) is located inside the battery mounting mechanism (41); the moving cover (401) travels on the inspection track (1) through rollers (403); the moving drive mechanism is used to drive the moving cover (401) to move along the inspection track (1), and the moving drive mechanism is controlled by the main controller, and the storage battery (8) supplies power to the moving drive mechanism through the power module.

4. The orbital dike inspection device according to claim 3, characterized in that: The battery mounting mechanism (41) includes a battery mounting box (410) and a linkage locking mechanism; the linkage locking mechanism includes two locking units; The battery mounting box (410) is mounted on the moving cover (401); a replacement channel (412) is horizontally provided through the battery mounting box (410); the two locking units are respectively mounted at both ends inside the replacement channel (412) for locking the storage battery (8) in the middle of the replacement channel (412).

5. The orbital dike inspection device according to claim 4, characterized in that: Two electrode columns (431) are mounted on the upper side wall of the replacement channel (412); both of the two electrode columns (431) are electrically connected to the power module; Two connection slots (806) are provided on the upper side wall of the storage battery (8); electrode plates (801) that are electrically connected to the electrodes of the storage battery (8) are elastically mounted on both of the two connection slots (806); the electrode plates (801) on the two connection slots (806) are respectively used to sandwich the two electrode columns (431).

6. The orbital dike inspection device according to claim 1, wherein: The camera adjustment mechanism (5) includes an adjustment box (502), an adjustment column (501), an adjustment rod (505), a pitch adjustment mechanism, and an orientation adjustment mechanism; The orientation adjustment mechanism is mounted on the inspection vehicle (4) and is used to drive the adjustment column (501) to rotate; The adjustment box (502) is fixed to the adjustment column (501); the adjustment rod (505) is rotatably mounted through the adjustment box (502), and the 3D camera (7) and the infrared camera (9) are respectively mounted at both ends of the adjustment rod (505); the pitch adjustment mechanism is mounted on the adjustment box (502) and is used to drive the adjustment rod (505) to rotate; both the pitch adjustment mechanism and the orientation adjustment mechanism are driven and controlled by the main controller, and the storage battery (8) supplies power to the pitch adjustment mechanism and the orientation adjustment mechanism through the power module.

7. The orbital dike inspection device according to claim 1, characterized in that: Both of the two linkage push-pull mechanisms include a top housing (301), a primary push-pull unit, and a secondary push-pull unit; The first-level push-pull unit is installed inside the top shell (301), and the second-level push-pull unit is installed on the first-level push-pull unit; the first-level push-pull units of the two linkage push-pull mechanisms are used to drive the relative movement of the two second-level push-pull units; both the first-level push-pull unit and the second-level push-pull unit are driven and controlled by the slave controller; the linkage head and the push plate (331) are respectively installed on the opposite ends of the two second-level push-pull units; a T-shaped notch (803) extending to the upper side is vertically provided on the storage battery (8), and the linkage head is used to extend into and snap onto the T-shaped notch (803).

8. The orbital dike inspection device according to claim 1, characterized in that: The lifting and transmission mechanism includes a transmission shell (308), a transmission platform (343) and a lifting and transmission unit; The lower part of the transmission shell (308) is fixedly connected to the end of the connection shell (309); the top shell (301) is fixedly connected to the upper end of the transmission shell (308); the lifting and transmission unit is installed on the transmission shell (308) and is used to drive the transmission platform (343) to move vertically inside the transmission shell (308); The lifting and transmission unit is driven and controlled by the slave controller.

9. The track-type dam inspection device according to claim 1, wherein: The bottom horizontal push mechanism includes a horizontal push driving unit, a push rod (354) and a horizontal push shell (352); The horizontal push shell (352) is horizontally fixed on the lifting and transmission mechanism; The horizontal push driving unit is installed on the horizontal push shell (352) and is used to drive the end of the push rod (354) to penetrate through the lifting and transmission mechanism and then extend into the connection shell (309); the horizontal push driving unit is driven and controlled by the slave controller.

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